Some Remarks on the RRR Linkage

Book chapter

Selig, JM (2014). Some Remarks on the RRR Linkage. in: Lenarcic, J and Khatib, O (ed.) Advances in robot kinematics: analysis and design Switzerland Springer. pp. 77 - 85 (9)
AuthorsSelig, JM
EditorsLenarcic, J and Khatib, O
Abstract

The variety of rigid-body displacements of the final link of a 3 R kinematic chain are investigated. In most cases the variety generated is a Segre manifold; the Cartesian product of three projective lines. The homology of this variety as a subvariety of the Study quadric is found and simple applications to some enumerative problems in kinematics are given. The conditions for the variety to fail to be a Segre variety are investigated in full and the case where the linkage forms the first three joints of a Bennett mechanism is examined.

Page range77 - 85 (9)
Year2014
Book titleAdvances in robot kinematics: analysis and design
PublisherSpringer
Place of publicationSwitzerland
ISBN978-3-319-06697-4
Publication dates
Print03 Jul 2014
Publication process dates
Deposited21 Mar 2017
Accepted03 Jul 2014
Digital Object Identifier (DOI)https://doi.org/10.1007/978-3-319-06698-1_9
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